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Stockholders' Equity - Schedule of Stock Option Activity Under Equity Incentive Plan (Details)
 12 Months Ended
Dec. 31, 2023
$ / shares
shares
Number of Shares  
Beginning balance (in shares) | shares 1,018,095
Granted (in shares) | shares 339,019
Exercised (in shares) | shares 0
Cancelled (in shares) | shares (228,250)
Ending balance (in shares) | shares 1,128,864
Weighted-Average Exercise Price  
Beginning balance (in dollars per share) | $ / shares $ 75.32
Granted (in dollars per share) | $ / shares 14.23
Exercised (in dollars per share) | $ / shares 0
Cancelled (in dollars per share) | $ / shares 66.47
Ending balance (in dollars per share) | $ / shares $ 58.76